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<div class="title">range_image_spherical.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define PCL_RANGE_IMAGE_SPHERICAL_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/range_image.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_spherical.html">   51</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_range_image_spherical.html">RangeImageSpherical</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="comment">// =====TYPEDEFS=====</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a> <a class="code" href="classpcl_1_1_point_cloud.html">BaseClass</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;RangeImageSpherical&gt; Ptr;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const RangeImageSpherical&gt; ConstPtr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">   61</a></span>&#160;<span class="comment"></span>      PCL_EXPORTS <a class="code" href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">RangeImageSpherical</a> () {}</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_spherical.html#afc4656463f4b4912ef46c1e15a9fb33a">   63</a></span>&#160;      PCL_EXPORTS <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image_spherical.html#afc4656463f4b4912ef46c1e15a9fb33a">~RangeImageSpherical</a> () {}</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_range_image.html">RangeImage</a>*</div>
<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_spherical.html#acb6dc5877e1e91d773392a346778b0bc">   68</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#acb6dc5877e1e91d773392a346778b0bc">getNew</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">RangeImageSpherical</a>; }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> Ptr</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_spherical.html#a4247e65f23cbe77a85521a608fac2a38">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#a4247e65f23cbe77a85521a608fac2a38">makeShared</a> () { <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_range_image_spherical.html">RangeImageSpherical</a> (*<span class="keyword">this</span>)); }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="comment">// Since we reimplement some of these overloaded functions, we have to do the following:</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">RangeImage::calculate3DPoint</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">RangeImage::getImagePoint</a>;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span> range, Eigen::Vector3f&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">getImagePoint</a> (<span class="keyword">const</span> Eigen::Vector3f&amp; point, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y, <span class="keywordtype">float</span>&amp; range) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">getAnglesFromImagePoint</a> (<span class="keywordtype">float</span> image_x, <span class="keywordtype">float</span> image_y, <span class="keywordtype">float</span>&amp; angle_x, <span class="keywordtype">float</span>&amp; angle_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <a class="code" href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">getImagePointFromAngles</a> (<span class="keywordtype">float</span> angle_x, <span class="keywordtype">float</span> angle_y, <span class="keywordtype">float</span>&amp; image_x, <span class="keywordtype">float</span>&amp; image_y) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  };</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/impl/range_image_spherical.hpp&gt;</span>  <span class="comment">// Definitions of templated and inline functions</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointWithRange &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html"><div class="ttname"><a href="classpcl_1_1_range_image.html">pcl::RangeImage</a></div><div class="ttdoc">RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...</div><div class="ttdef"><b>Definition:</b> range_image.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImage::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html">pcl::RangeImageSpherical</a></div><div class="ttdoc">RangeImageSpherical is derived from the original range image and uses a slightly different spherical ...</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImageSpherical::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a32a31d2c4fa79e912291c10b45a3709a"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a32a31d2c4fa79e912291c10b45a3709a">pcl::RangeImageSpherical::RangeImageSpherical</a></div><div class="ttdeci">PCL_EXPORTS RangeImageSpherical()</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a4247e65f23cbe77a85521a608fac2a38"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a4247e65f23cbe77a85521a608fac2a38">pcl::RangeImageSpherical::makeShared</a></div><div class="ttdeci">Ptr makeShared()</div><div class="ttdoc">Get a boost shared pointer of a copy of this</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a7a53bfc9f4a3365ee8e62513ae37eb5c"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a7a53bfc9f4a3365ee8e62513ae37eb5c">pcl::RangeImageSpherical::getImagePoint</a></div><div class="ttdeci">virtual void getImagePoint(const Eigen::Vector3f &amp;point, float &amp;image_x, float &amp;image_y, float &amp;range) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:352</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_a8a953ca67cee7446f2a854d39c6188c7"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#a8a953ca67cee7446f2a854d39c6188c7">pcl::RangeImageSpherical::getAnglesFromImagePoint</a></div><div class="ttdeci">void getAnglesFromImagePoint(float image_x, float image_y, float &amp;angle_x, float &amp;angle_y) const</div><div class="ttdef"><b>Definition:</b> range_image_spherical.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_aa1e4c832e4c11c25a57b0e3d8aae2a5e"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#aa1e4c832e4c11c25a57b0e3d8aae2a5e">pcl::RangeImageSpherical::getImagePointFromAngles</a></div><div class="ttdeci">void getImagePointFromAngles(float angle_x, float angle_y, float &amp;image_x, float &amp;image_y) const</div><div class="ttdef"><b>Definition:</b> range_image_spherical.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_acb6dc5877e1e91d773392a346778b0bc"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#acb6dc5877e1e91d773392a346778b0bc">pcl::RangeImageSpherical::getNew</a></div><div class="ttdeci">virtual RangeImage * getNew() const</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:68</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_spherical_html_afc4656463f4b4912ef46c1e15a9fb33a"><div class="ttname"><a href="classpcl_1_1_range_image_spherical.html#afc4656463f4b4912ef46c1e15a9fb33a">pcl::RangeImageSpherical::~RangeImageSpherical</a></div><div class="ttdeci">virtual PCL_EXPORTS ~RangeImageSpherical()</div><div class="ttdef"><b>Definition:</b> range_image_spherical.h:63</div></div>
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